DocumentCode :
2542670
Title :
Model based geometric reasoning for autonomous road following
Author :
Kuan, Darwin ; Sharma, Uma Kant
Author_Institution :
FMC Corporation, Coleman Avenue, Santa Clara, CA
Volume :
4
fYear :
1987
fDate :
31837
Firstpage :
416
Lastpage :
423
Abstract :
This paper describes a model-based geometric reasoning module for autonomous road following. Vision-guided road following requires extracting road boundaries from images in real-time to guide the navigation of autonomous vehicles on roadway. The detected road region boundary is error-prone due to imperfect image segmentation. To achieve robust system performance, a geometric reasoning module that uses spatial and temporal constraints to perform model-based reasoning is required. Local geometric supports for each road edge segment are collected and recorded and global consistency checking is performed to obtain a consistent interpretation of the raw data. Cases involving incomplete sensor data, on curved roads where only one side of the road is visible, and incorrect segmentation due to shadows, road patches, or unusual road conditions, can usually be detected and corrected. This reasoning module has been integrated into a road following system which is capable of supporting autonomous road following at 19 km/hr.
Keywords :
Image edge detection; Image segmentation; Inference mechanisms; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles; Robustness; Solid modeling; System performance;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type :
conf
DOI :
10.1109/ROBOT.1987.1088049
Filename :
1088049
Link To Document :
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